Control of mobile robots in the transition from state to state subject to a forward movement scheme

The paper proposes a control algorithm for a differentially drive Wheeled Mobile Robot (WMR) whose model incorporates kinematic and dynamic equations of motion for driving the vehicle from an initial state to a desired target in a given work space. In the suggested control algorithm we apply particular structural properties of the system. The proposed control algorithms are based on the use of polynomial functions. However, the current approach can be extended and other set of linearly independent functions can be applied. By using tools from the dynamic programming framework one may contribute to the reduction in the energy consumption required to the accomplishment of the control objective. The approach is implemented successfully in point-to-point control for WMRs subject to a forward velocity restriction.